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Sensor networks have taken off, but they are still notoriously difficult to program. Our group has deployed sensor networks for volcano monitoring and rehabilitation medicine, and each time we find that tuning the network to achieve the right tradeoff in terms of data quality, battery lifetime, and bandwidth usage is quite painful. To make things worse, resource availability fluctuates over time, as does the load that the application places on those resources. The severely constrained and decentralized nature of sensor networks makes this problem fairly challenging.